unitree_rl_gym
- Software
- Humanoids and robot learning
- Framework
A reinforcement learning toolkit for training and deploying motion control policies on Unitree robots such as Go2, H1, H1_2 and G1. It covers training, playback, simulation and real-robot deployment.
- Closed core
- Stale
Made by Unitree Robotics, China (checked on github.com/unitreerobotics (opens in a new tab)).
Source on GitHub: github.com/unitreerobotics/unitree_rl_gym (opens in a new tab). Facts read at commit 276801e (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 276801e (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Unknown
It needs closed parts under their own terms: read them before any commercial use.
One part it needs is closed
- Needs NVIDIA Isaac Gym Preview: Needed for training; closed, and discontinued by NVIDIA.
Labels
- Closed coreIt needs closed parts: NVIDIA Isaac Gym Preview.
- StaleNo commit in 12 months: the newest is from 25 Jul 2025.
What it does
- Trains locomotion policies for Unitree Go2, H1, H1_2 and G1 in the Gym simulation environment using a train command.
- Provides a play command to check trained policies and exports the actor network as a .pt file.
- Runs Sim2Sim deployment of policies in the Mujoco simulator through YAML configuration files.
- Supports Sim2Real deployment to physical robots through a network interface and a deployment config.
- Includes a C++ example that deploys the pre-trained G1 model with LibTorch.
Written by Robotheca from the project's README (opens in a new tab) at commit 276801e.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Stale: no commit in 12 months
- Newest commit
- 25 Jul 2025 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
- Repository on GitHub: github.com/unitreerobotics/unitree_rl_gym (opens in a new tab)
- unitree_rl_lab, its successor on Isaac Lab (Apache-2.0): github.com/unitreerobotics/unitree_rl_lab (opens in a new tab)
- unitree_rl_mjlab, its successor on MuJoCo and mjlab, no NVIDIA runtime (Apache-2.0): github.com/unitreerobotics/unitree_rl_mjlab (opens in a new tab)
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.